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<div class="title">octree_nodes.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_NODE_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OCTREE_NODE_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;cstddef&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;assert.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &quot;octree_container.h&quot;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">// enum of node types within the octree</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">enum</span> node_type_t</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      BRANCH_NODE, LEAF_NODE</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    };</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_node.html">   68</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> ()</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      ~<a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> ()</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">virtual</span> node_type_t</div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">   82</a></span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a> () <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>*</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_node.html#ae4c747852ba854832e13b1f76c46a5b0">   86</a></span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_node.html#ae4c747852ba854832e13b1f76c46a5b0">deepCopy</a> () <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    };</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT&gt;</div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html">   97</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeLeafNode</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#abf9afaab09e65e54d155a9828d09c056">  102</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#abf9afaab09e65e54d155a9828d09c056">OctreeLeafNode</a> () :</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> ()</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a2e8bb242c2662c3beb6fd4a0ce88f21d">  108</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a2e8bb242c2662c3beb6fd4a0ce88f21d">OctreeLeafNode</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeLeafNode</a>&amp; source) :</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> ()</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          container_ = source.container_;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#aeca1f9f8b4a1975ff1e9abf656fb1588">  116</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#aeca1f9f8b4a1975ff1e9abf656fb1588">~OctreeLeafNode</a> ()</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeLeafNode&lt;ContainerT&gt;</a>*</div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a08850adcfef8e4fd16ac456d3bf34cc6">  122</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a08850adcfef8e4fd16ac456d3bf34cc6">deepCopy</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeLeafNode&lt;ContainerT&gt;</a> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keyword">virtual</span> node_type_t</div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a7d1565aa9d36a9bdf291822394eab426">  129</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a7d1565aa9d36a9bdf291822394eab426">getNodeType</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          <span class="keywordflow">return</span> LEAF_NODE;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keyword">const</span> ContainerT*</div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a38e6dbe9e1e1104647f98c83356bb471">  136</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a38e6dbe9e1e1104647f98c83356bb471">operator-&gt;</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <span class="keywordflow">return</span> &amp;container_;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        ContainerT*</div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a78e7448d02219f75fe4a0f0399d09c8c">  143</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a38e6dbe9e1e1104647f98c83356bb471">operator-&gt; </a>()</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          <span class="keywordflow">return</span> &amp;container_;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keyword">const</span> ContainerT&amp;</div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a1f07d87841d13beed9667759d7e6b8e6">  150</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a1f07d87841d13beed9667759d7e6b8e6">operator* </a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          <span class="keywordflow">return</span> container_;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        ContainerT&amp;</div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#ab72f903319ccc9af359a6d77c9811428">  157</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a1f07d87841d13beed9667759d7e6b8e6">operator* </a>()</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          <span class="keywordflow">return</span> container_;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keyword">const</span> ContainerT&amp;</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a3fac458d85974341c2cfa18c10f65329">  164</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a3fac458d85974341c2cfa18c10f65329">getContainer</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          <span class="keywordflow">return</span> container_;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        ContainerT&amp;</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a64e77c637be7ee20a6cd4e5e2f00d9f0">  171</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a64e77c637be7ee20a6cd4e5e2f00d9f0">getContainer</a> ()</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          <span class="keywordflow">return</span> container_;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keyword">const</span> ContainerT*</div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a4a06d153287c5b146865fca72662e3e1">  178</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a4a06d153287c5b146865fca72662e3e1">getContainerPtr</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="keywordflow">return</span> &amp;container_;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        ContainerT*</div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a7ecbdcc73bab1656dc0fd9649b8633ca">  185</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a7ecbdcc73bab1656dc0fd9649b8633ca">getContainerPtr</a> ()</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          <span class="keywordflow">return</span> &amp;container_;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        ContainerT container_;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="comment">//Type ContainerT may have fixed-size Eigen objects inside</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      };</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT&gt;</div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html">  204</a></span>&#160;      <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#aa5e16ce0c9d0a027c994cf07fef395bb">  209</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#aa5e16ce0c9d0a027c994cf07fef395bb">OctreeBranchNode</a> () :</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>()</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          <span class="comment">// reset pointer to child node vectors</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          memset (child_node_array_, 0, <span class="keyword">sizeof</span>(child_node_array_));</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#aa91b0fda18442532b7705d530e4b7a7d">  217</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#aa91b0fda18442532b7705d530e4b7a7d">OctreeBranchNode</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode</a>&amp; source) :</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>()</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          memset (child_node_array_, 0, <span class="keyword">sizeof</span>(child_node_array_));</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; ++i)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;            <span class="keywordflow">if</span> (source.child_node_array_[i])</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;              child_node_array_[i] = source.child_node_array_[i]-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#ae4c747852ba854832e13b1f76c46a5b0">deepCopy</a> ();</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode</a>&amp;</div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#aa4152429d496bbd844b6d6ccc74dcd22">  231</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#aa4152429d496bbd844b6d6ccc74dcd22">operator = </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode</a> &amp;source)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          memset (child_node_array_, 0, <span class="keyword">sizeof</span>(child_node_array_));</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; ++i)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            <span class="keywordflow">if</span> (source.child_node_array_[i])</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;              child_node_array_[i] = source.child_node_array_[i]-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#ae4c747852ba854832e13b1f76c46a5b0">deepCopy</a> ();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode</a>*</div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#adc38b17abde05c64316e16eab7ce010f">  245</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#adc38b17abde05c64316e16eab7ce010f">deepCopy</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode&lt;ContainerT&gt;</a> (*<span class="keyword">this</span>));</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#abac4a38d30585757d16fa859f3f76ea4">  252</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#abac4a38d30585757d16fa859f3f76ea4">~OctreeBranchNode</a> ()</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        }</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>*&amp;</div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#ab0307902a49f46c1bc446d95b4a469b9">  261</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#ab0307902a49f46c1bc446d95b4a469b9">operator[] </a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx_arg)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;          assert(child_idx_arg &lt; 8);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          <span class="keywordflow">return</span> child_node_array_[child_idx_arg];</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>*</div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#abed2439f134d5ea4b1dd05e3600b46fe">  272</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#abed2439f134d5ea4b1dd05e3600b46fe">getChildPtr</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          assert(child_idx_arg &lt; 8);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;          <span class="keywordflow">return</span> child_node_array_[child_idx_arg];</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#ad7896e420c6a4f2318193d8965d3b761">  281</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#ad7896e420c6a4f2318193d8965d3b761">setChildPtr</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> index)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          assert(index &lt; 8);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          child_node_array_[index] = child;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#a124c5d4e99de29ddbbc1a3c51451074c">  292</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a124c5d4e99de29ddbbc1a3c51451074c">hasChild</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          <span class="keywordflow">return</span> (child_node_array_[child_idx_arg] != 0);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="comment">/*    inline bool isPrunable () const</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="comment">        {</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="comment">          const OctreeNode* firstChild = child_node_array_[0];</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="comment">          if (!firstChild || firstChild-&gt;getNodeType()==BRANCH_NODE)</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="comment">            return false;</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="comment">          bool prunable = true;</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="comment">          for (unsigned char i = 1; i &lt; 8 &amp;&amp; prunable; ++i)</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="comment">          {</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="comment">            const OctreeNode* child = child_node_array_[i];</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="comment">            if ( (!child) ||</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="comment">                 (child-&gt;getNodeType()==BRANCH_NODE) ||</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="comment">                 ((*static_cast&lt;const OctreeContainerBase*&gt;(child)) == (*static_cast&lt;const OctreeContainerBase*&gt;(child)) ) )</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="comment">              prunable = false;</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="comment">          }</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="comment">          return prunable;</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="comment">        }*/</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <span class="keyword">virtual</span> node_type_t</div>
<div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#a37726f198f8b6274715f74cd5f495bab">  323</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a37726f198f8b6274715f74cd5f495bab">getNodeType</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;          <span class="keywordflow">return</span> BRANCH_NODE;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        }</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        <span class="comment">// reset node</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        <span class="keywordtype">void</span> reset()</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        {</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;          memset(child_node_array_, 0, <span class="keyword">sizeof</span>(child_node_array_));</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;          container_.reset();</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keyword">const</span> ContainerT*</div>
<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#a98e479d17bf18f756d6aa089d1b57006">  338</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a98e479d17bf18f756d6aa089d1b57006">operator-&gt;</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          <span class="keywordflow">return</span> &amp;container_;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        ContainerT*</div>
<div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#aad567d12707f4af174480ef835d6c7c9">  345</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a98e479d17bf18f756d6aa089d1b57006">operator-&gt; </a>()</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        {</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;          <span class="keywordflow">return</span> &amp;container_;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        }</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <span class="keyword">const</span> ContainerT&amp;</div>
<div class="line"><a name="l00352"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#a8770ca6204882f04ec74a019e9271bea">  352</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a8770ca6204882f04ec74a019e9271bea">operator* </a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;          <span class="keywordflow">return</span> container_;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        }</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        ContainerT&amp;</div>
<div class="line"><a name="l00359"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#a51ac33c9da2b10b2918f4ae4f4876b52">  359</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a8770ca6204882f04ec74a019e9271bea">operator* </a>()</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          <span class="keywordflow">return</span> container_;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="keyword">const</span> ContainerT&amp;</div>
<div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#a2285777e401ef4d66f8f96a6fe611ff9">  366</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a2285777e401ef4d66f8f96a6fe611ff9">getContainer</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;          <span class="keywordflow">return</span> container_;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        }</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        ContainerT&amp;</div>
<div class="line"><a name="l00373"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#a6a01e5236f80ca09cc10be4cdd969109">  373</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a6a01e5236f80ca09cc10be4cdd969109">getContainer</a> ()</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        {</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;          <span class="keywordflow">return</span> container_;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        }</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        <span class="keyword">const</span> ContainerT*</div>
<div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#a32bbb1f42be4c55ea3d755daf19bc717">  380</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a32bbb1f42be4c55ea3d755daf19bc717">getContainerPtr</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;          <span class="keywordflow">return</span> &amp;container_;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        ContainerT*</div>
<div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_branch_node.html#a670552e70963eaf28b936c42247edd65">  387</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a670552e70963eaf28b936c42247edd65">getContainerPtr</a> ()</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        {</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;          <span class="keywordflow">return</span> &amp;container_;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child_node_array_[8];</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        ContainerT container_;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      };</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;}</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html">pcl::octree::OctreeBranchNode</a></div><div class="ttdoc">Abstract octree branch class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a124c5d4e99de29ddbbc1a3c51451074c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a124c5d4e99de29ddbbc1a3c51451074c">pcl::octree::OctreeBranchNode::hasChild</a></div><div class="ttdeci">bool hasChild(unsigned char child_idx_arg) const</div><div class="ttdoc">Check if branch is pointing to a particular child node</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:292</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a2285777e401ef4d66f8f96a6fe611ff9"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a2285777e401ef4d66f8f96a6fe611ff9">pcl::octree::OctreeBranchNode::getContainer</a></div><div class="ttdeci">const ContainerT &amp; getContainer() const</div><div class="ttdoc">Get const reference to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:366</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a32bbb1f42be4c55ea3d755daf19bc717"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a32bbb1f42be4c55ea3d755daf19bc717">pcl::octree::OctreeBranchNode::getContainerPtr</a></div><div class="ttdeci">const ContainerT * getContainerPtr() const</div><div class="ttdoc">Get const pointer to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:380</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a37726f198f8b6274715f74cd5f495bab"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a37726f198f8b6274715f74cd5f495bab">pcl::octree::OctreeBranchNode::getNodeType</a></div><div class="ttdeci">virtual node_type_t getNodeType() const</div><div class="ttdoc">Check if branch can be pruned</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:323</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a670552e70963eaf28b936c42247edd65"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a670552e70963eaf28b936c42247edd65">pcl::octree::OctreeBranchNode::getContainerPtr</a></div><div class="ttdeci">ContainerT * getContainerPtr()</div><div class="ttdoc">Get pointer to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:387</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a6a01e5236f80ca09cc10be4cdd969109"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a6a01e5236f80ca09cc10be4cdd969109">pcl::octree::OctreeBranchNode::getContainer</a></div><div class="ttdeci">ContainerT &amp; getContainer()</div><div class="ttdoc">Get reference to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:373</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a8770ca6204882f04ec74a019e9271bea"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a8770ca6204882f04ec74a019e9271bea">pcl::octree::OctreeBranchNode::operator*</a></div><div class="ttdeci">const ContainerT &amp; operator*() const</div><div class="ttdoc">Get const reference to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:352</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a98e479d17bf18f756d6aa089d1b57006"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a98e479d17bf18f756d6aa089d1b57006">pcl::octree::OctreeBranchNode::operator-&gt;</a></div><div class="ttdeci">const ContainerT * operator-&gt;() const</div><div class="ttdoc">Get const pointer to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:338</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_aa4152429d496bbd844b6d6ccc74dcd22"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#aa4152429d496bbd844b6d6ccc74dcd22">pcl::octree::OctreeBranchNode::operator=</a></div><div class="ttdeci">OctreeBranchNode &amp; operator=(const OctreeBranchNode &amp;source)</div><div class="ttdoc">Copy operator.</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_aa5e16ce0c9d0a027c994cf07fef395bb"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#aa5e16ce0c9d0a027c994cf07fef395bb">pcl::octree::OctreeBranchNode::OctreeBranchNode</a></div><div class="ttdeci">OctreeBranchNode()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_aa91b0fda18442532b7705d530e4b7a7d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#aa91b0fda18442532b7705d530e4b7a7d">pcl::octree::OctreeBranchNode::OctreeBranchNode</a></div><div class="ttdeci">OctreeBranchNode(const OctreeBranchNode &amp;source)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_ab0307902a49f46c1bc446d95b4a469b9"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#ab0307902a49f46c1bc446d95b4a469b9">pcl::octree::OctreeBranchNode::operator[]</a></div><div class="ttdeci">OctreeNode *&amp; operator[](unsigned char child_idx_arg)</div><div class="ttdoc">Access operator.</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:261</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_abac4a38d30585757d16fa859f3f76ea4"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#abac4a38d30585757d16fa859f3f76ea4">pcl::octree::OctreeBranchNode::~OctreeBranchNode</a></div><div class="ttdeci">virtual ~OctreeBranchNode()</div><div class="ttdoc">Empty deconstructor.</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:252</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_abed2439f134d5ea4b1dd05e3600b46fe"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#abed2439f134d5ea4b1dd05e3600b46fe">pcl::octree::OctreeBranchNode::getChildPtr</a></div><div class="ttdeci">OctreeNode * getChildPtr(unsigned char child_idx_arg) const</div><div class="ttdoc">Get pointer to child</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:272</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_ad7896e420c6a4f2318193d8965d3b761"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#ad7896e420c6a4f2318193d8965d3b761">pcl::octree::OctreeBranchNode::setChildPtr</a></div><div class="ttdeci">void setChildPtr(OctreeNode *child, unsigned char index)</div><div class="ttdoc">Get pointer to child</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:281</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_adc38b17abde05c64316e16eab7ce010f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#adc38b17abde05c64316e16eab7ce010f">pcl::octree::OctreeBranchNode::deepCopy</a></div><div class="ttdeci">virtual OctreeBranchNode * deepCopy() const</div><div class="ttdoc">Octree deep copy method</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html">pcl::octree::OctreeLeafNode</a></div><div class="ttdoc">Abstract octree leaf class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a08850adcfef8e4fd16ac456d3bf34cc6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a08850adcfef8e4fd16ac456d3bf34cc6">pcl::octree::OctreeLeafNode::deepCopy</a></div><div class="ttdeci">virtual OctreeLeafNode&lt; ContainerT &gt; * deepCopy() const</div><div class="ttdoc">Method to perform a deep copy of the octree</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a1f07d87841d13beed9667759d7e6b8e6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a1f07d87841d13beed9667759d7e6b8e6">pcl::octree::OctreeLeafNode::operator*</a></div><div class="ttdeci">const ContainerT &amp; operator*() const</div><div class="ttdoc">Get const reference to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a2e8bb242c2662c3beb6fd4a0ce88f21d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a2e8bb242c2662c3beb6fd4a0ce88f21d">pcl::octree::OctreeLeafNode::OctreeLeafNode</a></div><div class="ttdeci">OctreeLeafNode(const OctreeLeafNode &amp;source)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a38e6dbe9e1e1104647f98c83356bb471"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a38e6dbe9e1e1104647f98c83356bb471">pcl::octree::OctreeLeafNode::operator-&gt;</a></div><div class="ttdeci">const ContainerT * operator-&gt;() const</div><div class="ttdoc">Get const pointer to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a3fac458d85974341c2cfa18c10f65329"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a3fac458d85974341c2cfa18c10f65329">pcl::octree::OctreeLeafNode::getContainer</a></div><div class="ttdeci">const ContainerT &amp; getContainer() const</div><div class="ttdoc">Get const reference to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a4a06d153287c5b146865fca72662e3e1"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a4a06d153287c5b146865fca72662e3e1">pcl::octree::OctreeLeafNode::getContainerPtr</a></div><div class="ttdeci">const ContainerT * getContainerPtr() const</div><div class="ttdoc">Get const pointer to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a64e77c637be7ee20a6cd4e5e2f00d9f0"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a64e77c637be7ee20a6cd4e5e2f00d9f0">pcl::octree::OctreeLeafNode::getContainer</a></div><div class="ttdeci">ContainerT &amp; getContainer()</div><div class="ttdoc">Get reference to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:171</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a7d1565aa9d36a9bdf291822394eab426"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a7d1565aa9d36a9bdf291822394eab426">pcl::octree::OctreeLeafNode::getNodeType</a></div><div class="ttdeci">virtual node_type_t getNodeType() const</div><div class="ttdoc">Get the type of octree node. Returns LEAVE_NODE type</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a7ecbdcc73bab1656dc0fd9649b8633ca"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a7ecbdcc73bab1656dc0fd9649b8633ca">pcl::octree::OctreeLeafNode::getContainerPtr</a></div><div class="ttdeci">ContainerT * getContainerPtr()</div><div class="ttdoc">Get pointer to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_abf9afaab09e65e54d155a9828d09c056"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#abf9afaab09e65e54d155a9828d09c056">pcl::octree::OctreeLeafNode::OctreeLeafNode</a></div><div class="ttdeci">OctreeLeafNode()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_aeca1f9f8b4a1975ff1e9abf656fb1588"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#aeca1f9f8b4a1975ff1e9abf656fb1588">pcl::octree::OctreeLeafNode::~OctreeLeafNode</a></div><div class="ttdeci">virtual ~OctreeLeafNode()</div><div class="ttdoc">Empty deconstructor.</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html">pcl::octree::OctreeNode</a></div><div class="ttdoc">Abstract octree node class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html_a5b8206e9608369db7d5c21d905d03e09"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">pcl::octree::OctreeNode::getNodeType</a></div><div class="ttdeci">virtual node_type_t getNodeType() const =0</div><div class="ttdoc">Pure virtual method for receiving the type of octree node (branch or leaf)</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html_ae4c747852ba854832e13b1f76c46a5b0"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html#ae4c747852ba854832e13b1f76c46a5b0">pcl::octree::OctreeNode::deepCopy</a></div><div class="ttdeci">virtual OctreeNode * deepCopy() const =0</div><div class="ttdoc">Pure virtual method to perform a deep copy of the octree</div></div>
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